Stacking mechanism



June 15, 1965 G. F. QUAYLE STACKING MECHANISM 8 Sheets-Sheet 1 FiledNov. 8, 1962 9 INVENTOR.

June 15, 1965 G. F. QUAYLE 3,189,205

STACKING MECHANISM Filed Nov. 8, 1962 8 Sheets-Sheet 2 INVENTOR 6:0 :66F QMYLE BY M AITOPIYE) Filed Nov. 8, 1962 8 Sheets-Sheet 3 INVENTOR.

,4 TFOIPNEY June .15, 1965 G. F. QUAYLE 3,189,205

STACKING MECHANISM Filed Nov. 8, 1962 8 Sheets-Sheet 4 4b Ti S.

W we; 4 2;, Illllll Ill fllllllll! 35 INVENTOR June 15, 1965 a. F.QUAYLE 3,189,205

STACKING MECHANISM Filed Nov. 8, 1962 8 Sheets-Sheet 5 (Lb: l l l VENTORA rro mP/ Georges F QM W I'LO Yuan June 15, 1965 G. F. QUAYLE STACKINGMECHANISM Filed NOV. 8, 1962 8 Sheets-Sheet 6 R v, m: mM M 3 w VQ r mcA. m; Y B W NO. HE 03 June 1965 G. F. QUAYLE 3, 8 05 STAGKING MECHANISMFiled Nov. 8, 1962 8 Sheets-Sheet 8 IN VEN TOR. 650965 F Om YLE mp/wryUnited States Patent 3,189,265 STACKENG MEQHANISM George F. Quayle,Philadelphia, Pa, assignor, by mesne assignments, to Yaie & Towns, ind,New York, Nfiil, a company of Ohio Filed Nov. 8, 1%2, Ser. No. 236,263 8Claims. (Cl. 214-679) This invention relates to a stacking mechanism fortransporting and stacking loads.

The purpose of the invention is to provide a mechanism of this typewhich is capable of transporting a load along an aisle only slightlywider than the load and rotating said load horizontally, while insertingthe load into a storage space at the side of the aisle which is alsoonly slightly wider than the load. Thus, by the use of the invention,aisle space in storage facilities, such as warehouses, may be kept to aminimum, allowing more efficient utilization of available space forstorage. The invention is also particularly suitable for automaticoperation whereby loads may be transported, stacked, or removed from astack through remote controls or automatic programming systems.

To this end, the stacking mechanism of the invention includes atraveling support, with means for moving the traveling support along apredetermined linear path along the aisle. A support arm is pivotallymounted atone end on said traveling support for horizontal pivotalmovement relatively to the traveling support, and means areprovided forpivoting the support arm relatively to the traveling support. A loadsupporting and lifting structure in turn is pivotally mounted. forhorizontal pivotal movement on the other end of the support arm, andmeans are provided for pivoting the load supporting and liftingmechanism relatively to the support arm. Control means are provided foreffecting combined, correlated pivotal movement of the load supportingstructure relatively to the support arm, pivotal movement of the supportarm relatively to the traveling support and linear movement of thetraveling support along the aisle.

When transporting of a load along the aisle, the support arm and theload supporting and lifting mechanism are held aligned withthe aisle,with the load transported through movement of the traveling supportalong the aisle. In a preferred form of the invention, the travelingsupport moves along the aisle with the load supporting and liftingstructure trailing behind the traveling support. When an appropriatesensing system indicates that the stacking mechanism has passed an emptystorage space at the side, of the aisle, the direction of linearmovement of the traveling support is automatically reversed and thecontrol means actuated to effect combined, correlated pivotal movementof the load supporting structure rela tively to the support arm, pivotalmovement of the arm relatively to the traveling support and linearmovement of the traveling support longitudinally along the aisle torotate the load supported on the load supporting structure 90 whileextending the load through the combined pivotal movement into thestorage space at the side of the aisle. Thus, the load is rotated andstacked from an aisle which is only slightly wider than the load.

The invention and its advantages having been broadly described, adetailed description of a specific embodi- 3,189,295 Patented June 15,1965 FIG. 2 is a top plan view of the stacking mechanism in FIG. 1;

FIG. 3 is a sectional View taken on the line 3-3 of FIG. 1;

FIG. 4 is a sectional view similar to that of FIG. 3, but showing thesupporting arms and load supporting and lifting structure rotated toinsert a load into a storage space at one side of an aisle;

FIG. 5 is a sectional view taken on the line 55 of FIG. 1;

FIG. 6 is a sectional view taken on the line 66 of FIG. 1;

FIG. 7 is a sectional view taken on the line 77 of FIG. 6;

FIG. 8 is a perspective view of a portion of the control mechanism forcontrolling the combined linear and pivotal movement of the parts of theload lifting mechanism;

FIG. 9 and FIG. 10 are developments of the cams of the controlmecahnism; and

FIG. 11 is a sequence diagram showing the path of movement of theelements of the load lifting mechanism in inserting a load into astorage space at one side of an aisle. r

Referring to the drawings and in particular to FIG. 1, the stackingmechanism of the invention includes a traveling support, generallydesignated by the reference numeral til, which is adapted to movelongitudinally along an aisle. Upper and lower supporting arm structures11 and 12 are mounted at one end on the traveling support lit forhorizontal pivotal movement relatively to the traveling support about avertical axis XX, and a ment about a vertical axis Z-Z. The load liftingmecha:

nism 13 includes a vertically movable load carriage 14.

A load L supported on the load carriage 14 is adapted to be moved alongan aisle to a storage space at the side of the aisle by movement of thetraveling support It) longitudinally along the aisle, while the armstructures 11 and 12 and the load lifting mechanism 13 are held alignedwith the aisle. When the stacking mechanism reaches a proper positionrelatively to a storage space at the side' of the aisle, the loadsupported on the load carriage 14 is rotated and simultaneously insertedinto the storage space through combined, correlated pivotal movement ofthe load lifting mechanism 13 relatively to the outer ends of on theload carriage 14, is shown being rotated and simultaneously insertedinto a storage space at one side of the aisle. In FIG. 11, thestraightline A-A indicates the path of movement of the traveling support10 along the aisle, while the curved line BB indicates the path ofmovement of the pivot axis Z-Z between the load lifting structure 13 andthe supporting arm structures 11 and 12.

Three different pivotal positions of the supporting arm structures 11and 12 are shown in the diagram.

Referring to FIGS. 1, 2 and 5, the traveling support 10 is supported formovement along the aisle by lower ground engaging wheels 15 and 16, andis moved along the aisle through an electric motor 17 which rotates avertically extending drive shaft 18 having pinions 19 and 2s secured tothe upper and lower ends thereof which mesh respectively with anoverhead rack 21 and a floor mounted rack 22 which extend longitudinallyalong the aisle. Thus operation of the electric motor 17 serves to movethe traveling support It? longitudinally along the aisle throughrotation of the pinions 19 and 2t driving engagement with the stationaryracks 21 and 22. The provision of the two pinions l9 and 24), one at thetop and one at the bottom, connected together through the common driveshaft 18, holds the traveling support it vertical and prevents tippingof the stacking mechanism in the direction of movement of the travelingsupport it due to the load supported on the load carriage 14. Ifdesired, stationary roller chains may be used in place of the racks 21and 22, and chain sprockets used in place of the pinions l9 and 20. Agear type speed reducer 23 is provided between the electric drive motor17 and the shaft 18, so that the shaft 18 is rotated at a reduced speed.

As best shown in FIG. 2, the upper pinion 19 is held engaged with theoverhead rack 21 by rollers 24, and 25, which are disposed on and engagethe opposite side of the rack 21 from the pinion 19, and, as best shownin FIGS. 3 and 4, the lower pinion 28 is held engaged with the floormounted rack 22 by a roller 26 which is disposed on and engages theopposite side of the rack 22. The traveling support is held in alignmentwith the aisle through a pinion 27, which also engages the lower rack 22and is spaced from the pinion 2th The pinion 27 is held engaged with thelower rack 22 by a roller 23, which is disposed on and engages theopposite side of the rack 22. The pinion 2'7 is merely an idler pinionand serves no driving function.

The supporting arm structures 11 and 1 .2 are adapted to be pivotedrelatively to the traveling support it), in either direction from acentered position, by a hydraulic ram 29 which, as best shown in F165.1, 3 and 4, is attached at one end to the lower arm structure 12 andattached at the other end to the traveling support it The load liftingmechanism 13 is adapted to be pivoted relatively to the supporting armstructures 11 and 12, in

either direction from a centered position, by a hydraulic ram 30 whichis connected at one end to the lower arm structure 12 and operativelyconnected at the other end to the load lifting mechanism 13.

Thus, the load lifting mechanism may be pivoted relatively to thesupporting arm structures 1.1 and 12, in either direction, throughoperation of the ram 3th; the arm structures 11 and 12 may be pivotedrelatively to the traveling support It in either direction, by operation'of the ram 29; and the traveling support Eli may be movedlongitudinally along the aisle through operation Referring to FIGS. 1and 2, the supporting wheels 15 and T6 of the traveling support 10 aresecured to opposite ends of an axle 32, which in turn is carried by anaxle housing 33. The axle housing 33 is secured at opposite ends tolaterally spaced, vertically extending frame plates 34 and 35, as shownin FIG. 2. If desired, the axle housing 33 may be mounted for transverserocking or articulating movement so that the wheels may adjust to anyunevenness in the floor.

As best shown in FIG. 5, an upper horizontal frame plate 35 is securedto and supported on the upper ends of the vertical frame plates 34 and35, and the speed reducer 23 is secured to the upper surface of thehorizontal frame plate 36. The electric drive motor 17 is supported on avertically extending bracket 37, which is secured to the upper surfaceof the speed reducer 23, and the shaft of the electric drive motor 117is secured by means of a suitable coupling 39 to a stub shaft 46) whichis keyed to a pinion 41 of the speed reducer 23 by a key 42. The pinion41 in turn meshes with a reduction gear 43 of the speed reducer 23.

As shown in FIG. 1, the vertically extending drive shaft 18 isconveniently formed in three sections, including an upper solid shaftsection 44, a lower solid shaft section 45, best shown in FIG. 5, and anintermediate tubular shaft section 46, which is secured at its upper andlower ends to the solid shaft sections 54 and 45 through suitablecouplings 47 and E8. The overall length of the drive shaft 18 may beeasily changed by substitution of an intermediate section 46 ofdifferent length.

As best shown in FIG. 5, the lower solid shaft section 45 extendsthrough the speed reducer 23 and the upper horizontal frame plate 36,and is keyed to the reduction gear 4 3 by means of a key 49, so thatoperation of the drive motor 17 serves to rotate the shaft 18 at areduced speed through the pinion 41 and the reduction gear 43 of thespeed reducer 23. The solid shaft section 45 of the drive shaft 18 issupported for rotation in the speed reducer 23 by a suitableantifriction bearing 50.

The lower end of the solid shaft section 45 extends through a lowerhorizontal frame plate 51, which is secured to the lower ends of thevertical frame plates 34 and 35, and is supported for rotation through asuitable anti-friction bearing 52. The roller 26, which holds the lowerpinion 20 in engagement with the floor mounted rack 22, and the idlerpinion 2'7 and roller 28, which hold the traveling support aligned withthe aisle, are also supported for rotation on the lower horizontal frameplate 51, as shown in FIGS. 3 and 4.

As shown in FIG. 1, the control mechanism 31 is conveniently supportedon a horizontal plate 53 which is secured at one end to the verticalplates 34 and 35 and is supported at the other end by a vertical plate54 which is secured to and extends upwardly from the lower horizontalframe plate 51. A suitable source of fluid pressure, for operating thevarious hydraulic rams, such as an electric motor driven pump, generallyindicated at P, is conveniently mounted on the plate 53 above thecontrol 31. Electric power for operating the electric drive motor 17 andthe electric motor driven pump P may be supplied from a stationary powersource, through overhead trolley wires and a trolley, not shown, or bybatteries, also not shown, which may be conveniently mounted on thetraveling support 19 adjacent the pump P.

As shown in FIG. 2, the rollers 24 and 25 which hold the upper pinion 19in engagement with the overhead rack 21 are mounted for rotation on aplate 55, which in turn is rotatably mounted on the upper end of theupper solid shaft section 44 of the drive shaft 18.

Supporting arm structures Referring to FIG. I, the upper supporting armstructure 11 includes upper and lower horizontally extending, verticallyspaced plates or bars 56 and 57, which are secured at opposite ends toelongated, vertically extending sleeves and 5 The sleeve 58 is rotatablymounted on the upper solid shaft section 44 of the drive shaft 18through upper and lower anti-friction bearings 69 and 61. A verticallyextending pivot shaft 62, which is secured to the upper end of the loadlifting mechanism 13, is journalled in the sleeve 59, whereby the loadlifting mechanism 15 is pivotally supported on the outer end of theupper supporting arm structure ill. The plates or bars 56 and 57 arereinforced by diagonally extending brace members 63.

The lower supporting arm structure 12 is similarly formed of upper andlower horizontally extending, vertically spaced plates or bars 64 and65, which are reinforced by brace members 66, and which are secured atopposite ends to vertically extending sleeves 67 and 68. As best shownin FIG. 5, the sleeve 67 surrounds the lower solid shaft section 45 ofthe drive shaft 18 and is supported for rotation by upper and loweranti-friction bearings 69 and 70, carried, respectively by a lowervertical extension of the speed reducer 23 and the lower horizontalframe plate 51. Referring again to FIG. 1, a vertically extending pivotshaft 71, which is secured to the lower end of the load liftingmechanism 13, is suitably journalled in the sleeve 68, whereby the loadlifting mechanism 13 is pivotally supported on the outer end of thelower supporting arm structure 12.

The ram for pivoting the upper and lower supporting arm structures 11and 12 relatively to the traveling support is pivotally attached at oneend to the lower frame plate 51 of the traveling support 111 and ispivotally attached at the other end to the outer end of a lever arm 72which, as best shown in FIGS. 3 and 4, extends from and is rigidlysecured to the sleeve 67. Operation of the hydraulic ram 29 thereforeserves to pivot the supporting arm structures 11 and 12 relatively tothe traveling support 10.

Load lifting mechanism Referring to FIGS. 1, 2 and 3, the load liftingmech anism 13 includes vertically extending, outwardly facing,channel-shaped uprights 73 and 74 which are secured together in spacedrelation by a vertically extending back plate 75 and by horizontalbracket plates 76 and 77 provided at the top and bottom of the uprights.The load carriage 14 is supported for vertical movement on the uprights73 and 74- through rollers 78 and 79 which extend into the channels ofthe uprights, and the load carriage 14 is adapted to be elevated on theuprights 73 and 74 through a lift ram 80. The lift ram 80 is mountedbetween the uprights and is connected to the load carriage 14 throughlift chains 81 which are secured at one end to the load carriage 14,extend over sheaves 82 carried by the upper end of the ram 811, and areanchored at the other end to the ram cylinder or the uprights, so thatthe load carriage 14 is elevated at twice the speed of the ram when theram 86 is extended.

The upper pivot shaft 62, through which the load lifting mechanism 13 issupported for pivotal movement on the outer end of the upper armstructure 11, is rigidly secured at one end to the upper bracket plate76 and is rigidly secured at the other end to a bracket 83, which issecured to and extends from the back plate 75.

The lower pivot shaft 71, through which the load lifting mechanism 13 issupported for pivotal movement on the outer end of the lower armstructure 12, is rigidly secured at the upper end to a bracket 84, whichis secured to the back plate 75, and is rigidly secured to and extendsthrough the lower horizontal bracket plate 77.

As best shown in FIGS. 1, 3 and 4, the hydraulic ram 3%, which serves topivot the load lifting mechanism 13 relatively to the supporting armstructures 11 and 12, is pivotally secured at one end to a bracket 85,which is attached to the sleeve 67 and the lower side of the bar 65. Theopposite end of the ram 311 is pivotally secured to a gear 36. Gear 36is mounted rotation by means of a shaft 87 in a bearing 88, which inturn is secured to the side of the lower plate or bar 65. Gear 86 mesheswith a pinion 39, which is secured to the lower portion of the pivotshaft 71 which extends through the bracket 77. Operation of the ram 39,therefore, serves to rotate the gear 86 which in turn rotates the pinion89 to pivot the ,load lifting mechanism 13 relatively to the supportingarm structures 11 and 12, as shown in FIG. 4.

Control mechanism Referring to FIGS. 6, 7 and 8, the control mechanism31 includes a first drum cam 99 for actuating a valve 5 1 forcontrolling operation of the ram 36 which pivots the load liftingmechanism 13 relatively to the supporting arm structures 11 and 12, anda second drum cam 92 for actuating a valve 93 for controlling theoperation of the ram 259 which pivots the supporting arm structures 11and 12 relatively to the traveling support 10.

The drum cam 96 is supported for rotation at each end by hearing members94 and 95. Bearing members 194 and 95 in turn are pivotally securedthrough vertical pivots 96 and 97 to parallel links 18 and 99, and theparallel links 98 and 9 9 are pivotally connected through verticalpivots and 1111 to opposite ends of a stationary link or supportingbracket 16-2, which is secured to the support-: ing plate 53. The links98 and 99, therefore, form a parallel linkage system which supports thedrum cam 90 for slight lateral movement. The valve 91 for controllingflow of fluid under pressure from the fluid pressure source P to the ram30 is secured to the back of the bracket 102 and is connected through alink 1113 to an extension 1114-, of the link 98, so that the valve 91 isactuated to admit fluid under pressure to the ram 31) through lateralmovement of the drum cam 90.

The drum cam 92 is similarly mounted for slight lateral movement throughbearing members 105 and 106 which are pivotally secured through verticalpivots 1117 and 1118 to the ends of parallel links 1119 and 110.Parallel links 1119 and 111) are pivotally secured through verticalpivots 111 and 112 to opposite ends of a stationary link or bracketmember 1 13, which is secured to the supporting plate 53. The valve 93for controlling flow of fluid under pressure from the fluid pressuresource P to the ram 29 is secured to the back of the link or bracketmember 113 and is connected through a link 114 to an extension 115 ofthe link 11%, so thatthe valve 93 is actuated to admit fluid underpressure through lateral movement of the drum cam 92.

. A gear 116 is secured to the end of the drum cam 99 and a gear 117 issecured to the end of the drum cam 92. A pinion 113 meshes with both thegears 116 and 117 so that cams 9t? and 92 are rotated simultaneously inthe same directions by rotation of the pinion 118. The pinion 116 issecured to a transversely extending shaft 119 which is supported forrotation in suitable spaced bearings 1126 121 and 122 which are securedto the supporting plate 53.

The shaft 119 is adapted to be rotated in one direction, or the other,from either wheel 15 or wheel 16 through selective engagement of eithera friction drive 123, shown in FIGS. 2, 6 and 7, at one end of the shaft115 with the wheel 15, or engagement of a friction drive 124, shown inFIGS. 1, 2, 6 and 8, at the other end of the shaft 119 with the wheel16, depending upon whether a load is to be inserted into a storage spaceon one side or the other of the aisle. It will be appreciated that bydriving the cams @ti and 92 from the wheels 15 and 16, the rotation ofthe cams 9t and $2 is correlated with the linear movement, of thetraveling support 10 along the aisle. i

As best shown in FIGS. 6 and 7, the friction drive 123 includes afriction wheel 125 which is rotatably mounted on the outer end of a pairof lever arms 126 and is adapted to engage the outer periphery of thewheel 15. The lever arms 126 are pivotally mounted on the end of theshaft 119, and a chain 127 interconnects a sprocket 128 which isrotatably mounted on the end of the arms and is secured to the frictionwheel 125, and a sprocket 129 which is secured to the end of the shaft119. The friction wheel 125 is normally held out of engagement with thewheel 15 As best shown in FIGS. 1 and 8, the friction drive 124, at theopposite end of the shaft 119, is similar to the friction drive 123 andincludes lever arms 126a pivotally mounted on the end of the shaft 119,a sprocket 128a, which is rotatably mounted on the end of the arms 126aand is secured to a friction wheel 125a, a sprocket 129a which issecured to the shaft 119, and a chain 127a. The friction drive 124differs from the friction drive 123 in that it includes a reversingsprocket 133 which is mounted on the arms 126a. The chain 127a extendsaround the sprocket 128a and the reversing sprocket 133, and is held inmesh with the sprocket 129a by the sprocket 133. Engagement of thefriction wheel 125a with the wheel 16, as shown in FIG. 1, therefore,serves to rotate the shaft 119 in the opposite direction from that inwhich it is rotated by engagement of the friction drive 123. A ram 135normally holds the friction wheel 125a out of engagement with the wheel16, while a spring 136 presses the friction wheel 125a into engagementwith the wheel 16 when the fluid pressure on the ram 135 is released.

Referring to FIG. 6, the drum cam has a cam groove 138 in the outersurface thereof which is engaged by a cam follower 139. A development ofthe cam groove 138 is shown in FIG. 9. The cam follower 139 is securedto a rod 140 which is mounted for axial sliding movement in the bearingmembers 94 and 95, which also support the drum cam 90. As the drum camft is rotated, it is shifted laterally by the cam follower 13%, due tothe curvature of the cam groove 138, thereby actuating valve 91 toeffect pivotal movement of the load lifting mechanism 13 by the ram 30.

The rod 140 forms a part of a follow-up mechanism through which pivotalmovement of the load lifting mechanism relatively to the supporting armstructures 11 and 12 is transmitted back to the cam follower 139 anddrum cam 90 to shift the drum cam 919 in a direction to correct theposition of the valve 11 as necessary to assure precise correlationbetween the pivotal movement of the load lifting mechanism 13 by the ram313 and the linear move- I ment of the traveling support 10 along theaisle.

As best shown in FIG. 6, this follow-up mechanism for the drum cam 90includes a link 141, which is pivotally secured at one end to the rod140 and is pivotally secured at the opposite end to the outer end of onearm of a bellcrank lever 142. The bellcrank lever 14-2 is pivotallymounted on a vertical pivot 143 which is secured to the supporting plate53.

A second link 14-4 is pivotally connected to the outer end of the otherarm of the bellcrank lever 142, and is pivotally connected at theopposite end to a sprocket 145. As best shown in FIGS. 1, 5 and 7, thesprocket 1415 is mounted for free rotation on a reduced portion 146 ofthe sleeve 67 which surrounds the lower solid shaft section of the driveshaft 18. A chain 1 1-7, best shown in FIG. 1, interconnects thesprocket 145 and a sprocket 1 58 which is secured to the vertical pivotshaft 71 of the load lifting mechanism 13.

Thus, pivotal movement of the load lifting mechanism 13 relatively tothe arm structures 11 and 12 by the ram 30 is transmitted back throughthe sprocket 148, the chain 147, the sprocket 145, the link 144, thebellcrank lever 142, the link 141, and the rod 141) to the cam follower139, to shift the drum cam 90 in a lateral direction to correct theposition of the valve 91 as necessary to provide precise correlationbetween pivotal movement of the load lifting mechanism 13 by the ram 30and the linear movement of the traveling support 10 along the aisle.

Referring to FIG. 6, the drum cam 92 has a cam groove 14-9 in the outersurface thereof which is engaged by a cam follower 151). A developmentof the cam groove 149 is shown in FIG. 10. The cam follower 151) issecured to a rod 151 which is mounted for axial sliding movement in thebearing members 105, 1116. As the drum cam 92 is rotated, it is shiftedlaterally by the cam follower 150 due to the curvature of the cam groove14%, thereby actuating the valve 93 to effect pivotal movement of thesupporting arm structures 11 and 12 relatively to the traveling support111 by the ram 29.

The rod 151 forms a part of a follow-up mechanism which serves to shiftthe drum cam 92 laterally in a direction to correct the position of thevalve 93 as necessary to assure precise correlation between the pivotalmovement of the supporting arm structures 11 and 12 by the ram 22 withthe linear movement of the traveling support along the aisle.

As best shown in FIG. 6, this follow-up mechanism for the drum cam 92includes a link 152 which is pivotally attached at one end to the end ofthe rod 151 and is pivotally attached at the other end to the outer endof one arm of a bellcrank lever 153. The bellcrank lever 153 ispivotally mounted on the vertical pivot 143. A link 154- is pivotallysecured at one end to the outer end of the other arm of the bellcranklever 153, and is pivotally connected at the opposite end to the outerend of an arm 155. The arm 155 is rigidly secured to the lower sleeve 67through which the lower arm structure 12 is supported for pivotalmovement relatively to the traveling support 19.

Thus, pivotal movement of the supporting arm structures 11 and 12relatively to the traveling support 10 is transmitted back through thearm 155, the link 154, the bellcrank lever 153, the link 152, and therod 151 to the cam follower 150, to shift the drum cam 92 in a directionto correct the position of the valve 93 as necessary to provide aprecise correlation between the pivotal movement of the arms 11 and 12by the ram 2 9 relatively to the traveling support 10, and the linearmovement of the traveling support 19 along the aisle.

Operation Assuming that it is desired to move a load which is supportedon the load carriage 14-, down an aisle and to deposit the load in a.storage space at one side of the aisle, the electric drive motor 17 isfirst operated to rotate the vertical drive shaft 18 whereby thestacking mechanism is moved longitudinally down the aisle through therotation of the pinions 19 and 21) in engagement with the upper andlower racks 21 and 22. In the preferred form of the invention, thetraveling support 111 moves along the aisle with the arm structures 11and 12, and the load lifting mechanism 13 trailing behind the travelingsupport 10. At this time, the rams 131 and 135 of the friction drives123 and 124 are both actuated to hold the drives out of frictionalengagement with the wheels 15 and 16, and the supporting arm structures11 and 12 and the load lifting mechanism 13 are held aligned with theaisle by the rams 29 and 3111.

Assuming that the stacking mechanism is under the control of anautomatic programming system, and the load has been elevated to properelevation by operation of the lift ram 311, the stacking mechanismpasses by the storage space in which the load is to be deposited inaccordance with the predetermined program. As the stacking mechanismpasses the particular storage space, a suitable sensing system senseswhether the storage space is in fact empty. If the storage space isempty, the direction of linear movement of the traveling support isautomatically reversed by reversing the direction of operation of theelectric drive motor 17 and iiuid pressure on either the ram or offriction drive 123 or 124 is released, by operation of a suitable vaive(not shown) depending on which side of the aisle the load is to bedeposited, whereby the spring 131 or res of the friction drive moves thefriction wheel into driving engagement with the supportin g wheels 15 or16. The reversing of the drive motor 17 and the releasing of the fluidpressure on either ram 130 or 1.15 can, of course, be performedmanually. Thereafter, on longitudinal movement of the traveling support119 in the reverse direction, the drum earns 90 and 92 are lateralshifting of the drum cams Eli and 92 and actuation i of the valves 91and 93 to effect a precise operation of the rams 29 and 34) which iscorrelated with the linear movement of the traveling support it alongthe aisle. The arm structures 11 and 12 are thereby pivoted relativelyto the traveling support it), the load lifting mechanism pivotedrelatively to the supporting arm structures 11 and 12, While thetraveling suport It) is moved linearly down the aisle, so that the loadsupported on the load carriage 14 is rotated and simultaneously insertedinto the storage space at the side of the aisle, as shown in thesequence diagram of FIG. 11.

Assuming that the load is supported on a pallet, the load carriage 14 isthen lowered slightly to deposit the load on a storage rack throughoperation of the lift ram 80, and the load carriage 14 then withdrawnfrom the pallet through a reverse sequence of pivotal movement betweenthe load lifting mechanism and the supporting arm structures 11 and i2,pivotal movement of the arm structures 11 and 12 relatively to thetraveling support ll), and linear movement of the traveling supportalong the aisle, until the supporting arm structures 11 and 12 and loadlifting mechanism 13 are again aligned with the aisle. The rams 130 and135 are then both actuated to release the friction drives 123 and 124,and the stacking mechanism moved along the aisle through operation ofthe electric drive motor 17.

From the preceding description, it can be seen that there is provided avery novel stacking mechanism by which a load may be transported alongan aisle which is only slightly wider than the load and then rotated anddeposited in a storage space which is also only slightly wider than theload. Thus, by the use of the stacking mechanism of the invention, aislespace and storage facilities may be kept to a minimum, thereby allowingmore efficient utilization of the available space for storage.

Because the stacking mechanism is held againsttipping by the engagementof the driving elements of the traveling support with the floor mountedand overhead guide rails or racks, the stacking mechanism may be used tohandle extremely heavy loads.

Further, the stacking mechanism may be operated through remote controlsor automatic programming systems, or may be operated manually. In thelatter case, a simple platform may be provided on the mechanism toaccommodate the operator during operation of the stacking mechanism.

While one form of the invention has been shown and described, it will beappreciated that this is for the purpose of explanation, and thatchanges and modifications may be made therein without departing from thespirit and scope of the invention.

1 now claim:

'1. A load stacking mechanism comprising,

a traveling support,

upper and lower elongated stationary racks for guiding said travelingsupport along a predetermined path,

upper and lower pinions carried by said traveling support and meshingwith said racks whereby to prevent .tipping of said traveling support,

means on said traveling support directly connected with said pinions forsimultaneously rotating said pinions to move said traveling supportalong said predetermined path,

a supporting arm structure pivotally mounted at one end on saidtraveling support for horizontal pivotal movement relatively to saidtraveling support,

means for pivoting said supporting arm structure relatively to saidtraveling support,

10 a load supporting and lifting mechanism pivotally mounted on theother end of said supporting arm structure, means for pivoting said loadsupporting and lifting mechanism relatively to said supporting armstructure, and

control means including cam means cooperating with cam followers foreffecting combined, correlated, pivotal movement of said supporting armstructure relatively to said traveling support, means for correlatingrotation of said cam means and cam toll-owers with linear movement ofsaid traveling support along said predetermined path for eliectingpivotal movement of said load supporting and lifting mechanismrelatively to said supporting arm structure and linear movement of saidtraveling support to rotate said load supporting and lifting mechanismhorizontally through an angle of substantially while moving said loadsupporting and lifting mechanism transversely of said linear path,whereby a load supported on said load supporting and lifting mechanismis rotated and inselted into a storage space .at the side of said path.

2. A load stacking mechanism comprising,

a traveling support,

means for moving said support along a predetermined linear path, g

a supporting arm structure pivotally mounted at one end on saidtraveling'support for horizontal pivotal movement relatively to saidtraveling support,

means for pivoting said supporting arm structure relatively to saidtraveling support,

a load supporting structure pivotally mounted on the other end ofsaidsupporting arm structure, means for pivoting said load supportingstructure relatively to said supporting arm structure, and 7 controlmeans including a first rotatable cam for controlling said means forpivoting said load supporting structure relatively to said supportingarm structure, a second rotatable cam for controlling said means forpivoting said supporting arm structure relatively to said travelingsupport, and means for correlating rotation of said first and secondrotatable cams with linear movement of said traveling support alon saidpredetermined path to elf-cot combined, correlated pivotal movement ofsaid supporting arm structures relatively to said traveling support,pivotal movement of said load supporting structure relatively to saidsupporting arm structure and linear movement of said traveling supportto rotate said load supporting structure horizon-tally through .an angleof substantially 90 while moving said load supporting structuretransversely of said linear path whereby a load supported on said loadsupporting structure is rotated and inserted into a storage space at theside of said path.

3. A load stacking mechanism comprising,

a traveling support,

means for moving said support along a predetermined linear path,

a supporting arm structure pivotally mounted at one end on saidtraveling support for horizontal pivotal movement relatively to saidtraveling support,

means for pivoting said supporting arm structure relatively to saidtraveling support,

a load supporting and lifting mechanism pivotally mounted on the otherend of said supporting arm structure, I

means for pivoting said load supporting and lifting meehanismrelativelyto said supporting arm structure, and

control means including a first rotatable cam for controlling said meansfor pivoting said load supporting and lifting mechanism relatively tosaid support arm, a second rotatable cam for controlling said means forpivoting said supporting arm structure relatively to said travelingsupport, and means for correlating rotation of said first and secondrotatable cams with linear movement of said traveling support along saidpredetermined path to effect combined, correlated pivotal movement ofsaid supporting arm structure relatively to said traveling support,pivotal movement of said load supporting and lifting mechanismrelatively to said supporting arm structure and linear movement of saidtraveling support to rotate said load supporting and lifting mechanismhorizontally through an angle of substantially 90 while moving said loadsupporting and lifting mechanism transversely of said linear pathwhereby a load supported on said load supporting and lifting mechanismis rotated and inserted into a storage space at the side of said path.

4. A load stacking mechanism comprising,

a traveling support,

means for moving said support along a predetermined linear path,

a supporting arm structure pivotally mounted at one end on saidtraveling support for horizontal pivotal movement relatively to saidtraveling support,

fluid pressure operated means for pivoting said supporting arm structurerelatively to said traveling support,

a load supporting and lifting mechanism pivotally mounted on the otherend of said supporting arm structure,

fluid pressure operated means for pivoting said load supporting andlifting mechanism relatively to said supporting arm structure,

control means including a first rotatable cam for actuating a valve forcontrolling fluid pressure to said fluid pressure operated means forpivoting said supporting arm structure relatively to said traveling sup-.port, a second rotatable cam for actuating a valve for controllingfluid pressure to said fluid pressure actuated means for pivoting saidload supporting and lifting mechanism relatively to said support arm,and

means for correlating rotation of said first and second cams With linearmovement of said traveling support along said path whereby to effectcombined, correlated operation of said first and second valves to causepivotal movement of sa d supporting arm structure relatively to saidtraveling support, pivotal movement of said load supporting and liftingmechanism relatively to said supporting arm structure and linearmovement of said traveling support to rotate said load supporting andlifting mechanism horizontally through an angle of substantially 90while moving said load supporting and lifting mechanism transversely ofsaid linear path, whereby a load supported on said load supporting andlifting mechanism is rotated and inserted into a storage space at theside of said path.

5. A load stacking mechanism comprising,

a traveling support,

means for moving said support along a predetermined linear path,

a supporting arm structure pivotally mounted at one end on saidtraveling support for horizontal pivotal movement relatively to saidtraveling support,

fluid pressure operated means for pivoting said supporting arm structurerelatively to said traveling support,

a load supporting and lifting mechanism pivotally mounted on the otherend of said supporting arm structure,

fluid pressure operated means for pivoting said load supporting andlifting mechanism relatively to said supporting arm structure,

control means including a first rotatable cam for actuating a firstvalve for controlling fluid pressure to said fluid pressure operatedmeans for pivoting said supporting arm structure relatively to saidtraveling support, a second rotatable cam for actuating a second valvefor controlling fluid pressure to said fluid pressure actuated means forpivoting said load supporting and lifting mechanism relatively to saidsupporting arm structure,

means for correlating rotation of said first andsecond cams with linearmovement of said traveling support along said path whereby to effectcombined, correlated operation of said first and second valves to causepivotal movement of said supporting arm structure relatively to saidtraveling support, pivotal movement of said load supporting and liftingmechanism relatively to said supporting arm structure and linearmovement of said traveling support to rotate said load supporting andlifting mechanism horizontally through an angle of substantially whilemoving said load supporting and lifting mechanism transversely of saidlinear path, whereby a load supported on said load supporting andlifting mechanism is rotated and inserted into a storage space at theside of said path, and

a first follow-up mechanism operably connected with said supporting armstructure for correcting the position of said first valve as necessaryto provide precise predetermined pivotal movement of said supporting armstructure relatively to said traveling support, and a second follow-upmechanism opera-bly connected with said load supporting and liftingmechanism for correcting the position of said second valve as necessaryto provide precise predetermined pivotal movement of said loadsupporting and lifting mechanism relatively to said supporting armstructure.

6. A load stacking mechanism comprising,

a traveling support,

upper and lower horizontal elongated stationary guide means for guidingsaid traveling support along a predetermined linear path,

driving means on said traveling support in driving engagement with saidupper and lower guide means for moving said traveling support along saidpredetermined linear path,

a supporting arm structure pivotally mounted at one end on saidtraveling support for horizontal pivotal movement relatively to saidtraveling support,

means for pivoting said supporting arm structure relatively to saidtraveling support,

a load supporting and lifting mechanism pivotally mounted on the otherend of said supporting arm structure,

means for pivoting said load supporting and lifting mechanism relativelyto said support arm, and

control means including a first rotatable cam for controlling said meansfor pivoting said load supportnig and lifting mechanism relatively tosaid supporting arm structure, a second rotatable cam for controllingsaid means for pivoting said supporting arm structure relatively to saidtraveling support, and means for correlating rotation of said first andsecond rotatable cams with linear movement of said traveling supportalong said predetermined path to effect combined, correlated pivotalmovement of said supporting arm structure relatively to said travelingsupport, pivotal movement of said load supporting and lifting mech anismrelatively to said supporting arm structure and linear movement of saidtraveling support to rotate said load supporting and lifting mechanismhorizontally through an angle of substantially 90 while moving said loadsupporting and lifting mechanism transversely of said linear pathwhereby a load supported on said load supporting and lifting mechanismis rotated and inserted into a storage space at the side of said path.

means for pivoting said supponting arm structure relatively to saidtraveling support,

a load supporting and lifting mechanism pivotally mounted on the otherend of said supporting arm structure,

means for pivoting said load supporting and lifting mechanism relativelyto said supporting arm structure, and

control means including a first rotatable cam for controlling said meansfor pivoting said lead supporting and lifting mechanism relatively tosaid supporting arm structure, a second rotatable cam for controllingsaid means for pivoting said supporting arm structure relatively to saidtraveling support, and means for correlating rotation of said first andsecond rotatable cams with linear movement of said traveling supportalong said predetermined path to efiect combined, correlated pivotalmovement of said supporting arm structure relatively to said travelingsupport, pivotal movement of said load supporting and lifting mechanismrelatively to said supporting arm structure and linear movement of saidtraveling support to rotate said load supporting and lifting mechanismhorizontally through an angle of substantially 90 while moving said loadsupporting and lifting mechanism transversely of said linear pathwhereby a load supported on said load supporting and lifting mechanismis rotated and inserted into a storage space at the side of said path.

8. A load stacking mechanism comprising,

a traveling support,

means for moving said support along a predetermined linear path,

a supporting arm structure pivotally mounted at one end on saidtraveling support for horizontal pivotal movement relatively to saidtraveling support,

means for pivoting said supporting arm structure relatively to saidtraveling support,

a load supporting structure pivotally mounted on the other end of saidsupporting arm structure,

means for pivoting said load supporting structure relatively to saidsupponting arm structure,

a first control device operable to actuate said means for pivoting saidsupporting arm structure relatively to said traveling support,

a second control device operable to actuate said means for pivoting saidlead supporting structure relatively to said supporting arm structure,

control means for correlating operation of said first and second controldevices With linear movement of said traveling support along saidpredetermined path to eflect combined, corp-elated pivotal movement ofsaid supporting arm structure relatively to said traveling support,pivotal movement of said load supporting' structure relatively to saidsupporting arm structure and linear movement of said traveling supportto rotate said supporting structure horizontally through an angle ofsubstantially while moving said load supporting structure transverselyon said linear path whereby a load supported arm of said load supportingstructure is rotated and inserted into a storage space at the side ofsaid path,

a first follow-up mechanism operatively connected With said supportingarm structure for correcting the operation of said first control deviceas necessary to provide precise predetermined pivotal movement of saidsupporting arm structure relatively to said traveling support, and

a second follow-up mechanism operatively connected with said loadsupporting and lifting mechanism for correcting the operation of saidsecond control device as necessary to provide precise predeterminedpivotal movement of said load supporting and lilting mechanismrelatively to said supporting arm structure.

References titted by the Examiner UNITED STATES PATENTS 2,073,793 3/37Gyger 214-44 2,535,961 12/50 Schutt 214-'16,42 2,692,418 10/54 BeSSer2l4---16.42 X 2,753,066 7/56 Arnot Q 214-671 2,905,338 9/59 Koch.2,933,205 4/ 6O MacDonald et al. 3,947,167 7/62 Rose. 3,066,805 12/62Sullivan.

FOREIGN PATENTS 1,083,476 l/SS France.

750,793 6/56 Great Britain.

HUGO O. SCHULZ, Primary Examiner. MORRIS TEMIN, Examiner.

1. A LOAD STACKING MECHANISM COMPRISING, A TRAVELING SUPPORT, UPPER ANDLOWER ELONGATED STATIONARY RACKS FOR GUIDING SAID TRAVELING SUPPORTALONG A PREDETERMINED PATH, UPPER AND LOWER PINIONS CARRIED BY SAIDTRAVELING SUPPORT AND MESHING WITH SAID RACKS WHEREBY TO PREVENT TIPPINGOF SAID TRAVELING SUPPORT, MEANS ON SAID TRAVELING SUPPORT DIRECTLYCONNECTED WITH SAID PINIONS FOR SIMULTANEOUSLY ROTATING SAID PINIONS TOMOVE SAID TRAVELING SUPPORT ALONG SAID PREDETERMINED PATH, A SUPPORTINGARM STRUCTURE PIVOTALLY MOUNTED AT ONE END ON SAID TRAVELING SUPPORT FORHORIZONTAL PIVOTAL MOVEMENT RELATIVELY TO SAID TRAVELING SUPPORT, MEANSFOR PIVOTING SAID SUPPORTING ARM STRUCTURE RELAA LOAD SUPPORTING ANDLIFTING MECHANISM PIVOTALLY TIVELY TO SAID TRAVELING SUPPORT, MOUNTED ONTHE OTHER END OF SAID SUPPORTING ARM STRUCTURE, MEANS FOR PIVOTING SAIDLOAD SUPPORTING AND LIFTING MECHANISM RELATIVELY TO SAID SUPPORTING ARMSTRUCTURE, AND CONTROL MEANS INCLUDING CAM MEANS COOPERATING WITH CAMFOLLOWERS FOR EFFECTING COMBINED, CORRELATED, PIVOTAL MOVEMENT OF SAIDSUPPORT ARM STRUCTURE RELATIVELY TO SAID TRAVELING SUPPORT, MEANS FORCORRELATING ROTATION OF SAID CAM MEANS AND CAM FOLLOWERS WITH LINEARMOVEMENT OF SAID TRAVELING SUP-